CN111283659A

CN111283659A - Power-assisted garment

Info

Publication number: CN111283659A
Application number: CN201911235194.2A
Authority: CN
Inventors: 加藤喜绅; 大坪和义; 太田浩充; 小串健作; 梅谷晃久; 柴田延言; 小林祐纪
Original assignee: JTEKT Corp
Current assignee: JTEKT Corp
Priority date: 2018-12-10
Filing date: 2019-12-05
Publication date: 2020-06-16
Also published as: US20200179218A1; DE102019132925A1; US11471360B2

Abstract

The invention relates to a power assist garment (1) comprising a belt (10, 20, 30, 80) to be worn at least around the hips of a wearer, an auxiliary unit (60R, 60L), a power unit (40) and support rollers (76, 77). The assist unit (60R, 60L) includes an arm section (71R) and a thigh wearing section (78R, 78L). A rail (73) is provided on a part of the arm (71R) in the longitudinal direction. The rail (73) includes a groove-like portion (73E) extending in the longitudinal direction. The thigh wearing portion (78R, 78L) is connected to the slidable portion (75, 75R) or is integrated with at least a part of the slidable portion (75, 75R). Support rollers (76, 77) are provided between each of the groove-like portions (73E) in the rail (73) and each of inner wall surfaces of the slidable portions (75, 75R) that face the corresponding groove-like portion (73E).

Description

Power-assisted garment

Technical Field

The present invention relates to power assist garments that assist in the movement of the thighs of a wearer relative to the hips or the movement of the hips of a wearer relative to the thighs.

Background

In recent years, power assist garments for reducing the burden on the hip of a wearer and the like have been required in various work sites including manufacturing, logistics, construction, agriculture, nursing care, and rehabilitation.

One example is an exercise assisting device disclosed in japanese patent application publication No.2018-149624(JP 2018-149624A), the exercise assisting device having: a (right) actuator and a (left) actuator arranged on a right hip and a left hip, respectively, of a wearer; a (right) leg strap and a (left) leg strap worn around the right thigh and the left thigh of the wearer, respectively; a (right) arm portion coupling the (right) actuator and the (right) leg strap together; and (left) arm portions coupling the (left) actuator and the (left) leg strap together. The (right) actuator assists the swinging of the wearer's (right) thigh relative to the hip by means of the (right) arm and (right) leg straps, while the (left) actuator assists the swinging of the wearer's (left) thigh relative to the hip by means of the (left) arm and (left) leg straps.

Another example is a motion assist device disclosed in japanese patent application laid-open No.2015-208795(JP 2015-208795A) that has a (right) actuator and a (left) actuator provided on the right hip and the left hip of the wearer, respectively, and a (right) thigh brace integral with the arm and a (left) thigh brace integral with the arm. The arm portion of the (right) thigh brace is connected to a (right) actuator, and the (right) actuator assists the swinging (backward swinging) of the (right) thigh of the wearer relative to the hip. The arm portion of the (left) thigh brace is connected to a (left) actuator, and the (left) actuator assists the swinging (backward swinging) of the (left) thigh of the wearer relative to the hip.

Disclosure of Invention

In the case where the (right) leg band is worn around and fixed to the (right) thigh of the wearer and the (left) leg band is worn around and fixed to the (left) thigh of the wearer, the structure of the exercise assisting device described in JP 2018-. In the case where the position of the swing axis of the (right) actuator and the position of the swing axis of the (left) actuator do not coincide with the position of the hip joint of the wearer, the distance of the (right) leg band from the swing axis of the (right) actuator and the distance of the (left) leg band from the swing axis of the (left) actuator vary with the swing angle at which the (right) thigh swings forward or backward. Disadvantageously, the (right) leg strap and the (left) leg strap cannot slide in the longitudinal direction of the thigh and therefore cannot follow such a change in distance. In addition, when the wearer opens his or her legs laterally, the distance of the (right) leg strap to the swing axis of the (right) actuator and the distance of the (left) leg strap to the swing axis of the (left) actuator vary with the opening angle. Disadvantageously, the (right) leg strap and the (left) leg strap cannot slide in the longitudinal direction of the thigh and therefore cannot follow such a change in distance. When these leg straps are unable to follow the change in distance, the assist torque may not be efficiently transmitted. In addition, these leg straps may be forced to move along the wearer's thighs, causing discomfort or pain to the wearer.

Similarly, the movement assistance device described in JP 2015-208795A has a disadvantage in that the (right) thigh support and the (left) thigh support cannot slide in the longitudinal direction of the thigh and therefore cannot follow the change in distance. Therefore, as in JP2018-149624a, the assist torque may not be transmitted effectively, or the wearer may feel discomfort or pain.

The present invention can appropriately maintain the wearing state of the thigh wearing part worn on the thigh of the wearer in response to various motions of the thigh, thereby effectively transmitting the assist torque.

One aspect of the invention is a power assist garment. This power-assisted clothes includes: a belt worn at least about the hip of the wearer; an auxiliary unit worn on the belt and the wearer's thighs; a power unit configured to generate an assist torque to be transmitted to the assist unit; and a support roller. The assisting unit is configured to assist the predetermined movement. The predetermined movement is at least a movement of the thighs of the wearer relative to the hips or a movement of the hips of the wearer relative to the thighs. The assist unit includes an arm portion configured to swing by the assist torque and a thigh wearing portion worn on the thigh of the wearer. The arm has an elongated shape extending from a side of the hip of the wearer along a side of the thigh of the wearer, and a rail is provided on a part of the arm in a longitudinal direction. The rail has an H-shape in a cross section orthogonal to the longitudinal direction and includes a groove-like portion extending along the longitudinal direction. The thigh-wearing portion is connected to or integral with at least a portion of the glidable portion. The slidable portion is configured to slide along a longitudinal direction of the rail. The support roller is disposed between each of the grooved portions in the rail and each of inner wall surfaces of the slidable portion facing the inner wall surface of the corresponding grooved portion, and is configured to reduce friction between the rail and the slidable portion.

In this configuration, the thigh-worn portion worn on the wearer's thigh can slide along the arms extending from the sides of the wearer's hips along the sides of the wearer's thigh. Therefore, even in some cases, such as when the arm swings with the position of its swing axis and the position of the hip joint of the wearer not coinciding with each other, or when the wearer opens his or her leg sideways, the thigh wearing portion automatically slides into position, so that the assist torque can be transmitted efficiently, and a suitable wearing state can be maintained without causing the wearer to feel discomfort or pain. In addition, friction and noise generated during sliding of the thigh wearing portion can be reduced by the support rollers.

In the above power assist garment, two or more support rollers may be provided in the longitudinal direction between each of the groove-shaped portions in the rail and each of inner wall surfaces of the slidable portion that face the corresponding groove-shaped portion.

In this configuration, two or more supporting rollers are provided along the longitudinal direction of the rail, which makes the allowable rotation angle of the thigh wearing portion with respect to the rail smaller than when one supporting roller is provided. Therefore, the thigh wearing portion capable of sliding with respect to the rail can be held in a more stable posture.

In the power assist garment, one support roller may be provided between each of the groove-shaped portions in the rail and each of inner wall surfaces of the slidable portion facing the corresponding groove-shaped portion.

In this configuration, one supporting roller is provided along the longitudinal direction of the rail, which makes the allowable rotation angle of the thigh wearing portion with respect to the rail larger than when two or more supporting rollers are provided. Therefore, in the case where it is preferable to rotate the thigh wearing part to a posture of a larger angle with respect to the rail according to various movements of the wearer's thigh, the thigh wearing part can be automatically rotated to appropriately follow the wearer's movements.

In the above power assist garment, the assist unit may include an idler. The power unit may include a drive pulley and an actuator. The auxiliary torque generated by the actuator may be transmitted from the drive pulley to the idler pulley by a cable. The drive pulley shaft member forming the shaft of the drive pulley may be supported at both ends in the direction of the drive pulley rotation axis within the power unit, wherein the drive pulley rotation axis is the rotation axis of the drive pulley.

In this configuration, the drive pulley is supported on both sides in the direction of the rotational axis of the drive pulley within the power unit such that the drive pulley is supported in a manner fixed at both ends. Therefore, in the case where one shaft member of the drive pulley is connected to a device such as an electric motor, a large bearing is not required to support the one shaft member, and thus the device can be miniaturized. Therefore, the size and weight of the power assist clothes can be reduced.

In the above power assist garment, the drive pulley and the idler pulley may be disposed such that a drive pulley rotation axis and an idler pulley rotation axis as a rotation axis of the idler pulley are not parallel to each other.

In this configuration, the position and orientation of the drive pulley can be flexibly set without being restricted by the extending direction of the idler rotation axis.

In the above power assist garment, the power unit may have a cable hole into which a cable drawn from the drive pulley is inserted. A cable guide may be provided in the power unit to guide the cable drawn from the drive pulley to the cable hole in a straight line.

In this configuration, the cable drawn out from the drive pulley is guided to the cable hole in a straight line by the cable guide. Therefore, the cable is not subjected to a force in the strain direction, whereby a decrease in the assist torque transmission efficiency, a breakage of the cable, and the like can be prevented.

Drawings

Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

FIG. 1 is an exploded perspective view of the power assist garment disassembled into parts;

FIG. 2 is a perspective view of the power assist garment of FIG. 1 with the portions assembled;

FIG. 3 is a front view of a wearer wearing the power assist garment;

FIG. 4 is a rear view of a wearer wearing the power assist suit;

FIG. 5 is a front view of the frame;

FIG. 6 is a side view of the frame;

figure 7 is a view illustrating a hip belt;

FIG. 8 is a view illustrating a chest strap;

fig. 9 is an exploded perspective view illustrating a structure of a shoulder strap;

fig. 10 is a sectional view illustrating the structure of the shoulder strap;

fig. 11 is a perspective view illustrating an appearance of a back pad mounted on a power unit;

fig. 12 is a view illustrating a structure of a back pad and a mounted state of the back pad;

fig. 13 is a view illustrating an example of a state in which the back pad recovers its original shape and sucks air when the posture of the wearer changes from the stooped-down state to the standing-up state during the load lifting work;

fig. 14 is a view illustrating an example of a state in which the back pad is compressed to discharge air when the posture of the wearer changes from the upright state to the stooped-down state during the load lifting work;

fig. 15 is a view illustrating an example in which a surface of the back pad that contacts the wearer's back has a convex shape toward the wearer's back;

fig. 16 is a view illustrating an example in which a surface of the back pad that contacts the wearer's back is concave-shaped toward the wearer's back;

fig. 17 is a view illustrating an example in which a surface of the back pad that contacts the wearer's back takes a flat shape toward the wearer's back;

fig. 18 is a perspective view illustrating an example of an arrangement structure of a power generation portion, a battery, and a controller within the power unit;

fig. 19 is a view illustrating the structure of the power generation section and the support state of the power generation section;

fig. 20 is a perspective view illustrating an example of an appearance of each part constituting the power generation section;

fig. 21 is a view illustrating a structure of a rotating portion around an idler pulley in the auxiliary unit;

fig. 22 is a sectional view of the turning part shown in fig. 21 taken along line XXII-XXII;

FIG. 23 is a view of the rotating portion of FIG. 22 disassembled into parts;

fig. 24 is a perspective view illustrating an example of the shape of a portion in which the frame and the pulley box are connected to each other in the rotating portion shown in fig. 21;

fig. 25 is a view illustrating another example of the stopper mechanism that limits the range of the rotation angle of the idler pulley (the range of the swing angle of the swing arm portion) with respect to the rotating portion shown in fig. 21;

fig. 26 is an exploded perspective view illustrating the structure of the link from the swing arm portion to the thigh wearing portion in the assist unit;

fig. 27 is a perspective view illustrating the appearance of the coupling member assembled by the parts shown in fig. 26;

fig. 28 is a view illustrating a state in which the slidable portion and the thigh wearing portion slide along the rail;

fig. 29 is a sectional view taken along line XXIX-XXIX of fig. 28;

fig. 30 is a view illustrating a state in which the thigh wearing portion is connected to the slidable portion at one point so as to be rotatable relative to the slidable portion with respect to the state of fig. 28;

fig. 31 is a view illustrating the structure of a thigh belt; and

fig. 32 is a perspective view illustrating a state in which the thigh belt shown in fig. 31 is attached to the thigh wearing portion of the attachment shown in fig. 27.

Detailed Description

The structure of the power assist suit 1 (see fig. 2) will be described below. The power assist suit 1 is a device that assists with rotation of the wearer's thighs relative to the hips (or rotation of the hips relative to the thighs) when the wearer lifts a load (or lowers a load) or assists with swinging of the wearer's thighs relative to the hips during walking. The X-axis, Y-axis, and Z-axis in the drawing are orthogonal to each other, and the X-axis direction, Y-axis direction, and Z-axis direction correspond to the forward direction, the leftward direction, and the upward direction, respectively, from the perspective of the wearer wearing the power assist suit 1. When directions of up, down, left, right, front, and rear are indicated in the following description, the directions are respectively directed to an upward direction (Z-axis direction), a downward direction (direction opposite to the Z-axis direction), a leftward direction (Y-axis direction), a rightward direction (direction opposite to the Y-axis direction), a forward direction (X-axis direction), and a rearward direction (direction opposite to the X-axis direction) from the viewpoint of the power assist suit 1.

First, the overall structure of the power assist suit 1 will be described using fig. 1 and 2. Fig. 1 is an exploded perspective view showing parts constituting the power assist garment 1, and fig. 2 is a perspective view showing a state in which the parts shown in fig. 1 are assembled into the power assist garment 1. Fig. 3 is a front view of a state in which the wearer wears the power assist garment 1 shown in fig. 2, and fig. 4 is a rear view of a state in which the wearer wears the power assist garment 1 shown in fig. 2.

As shown in the exploded perspective view of fig. 1, the power assist garment 1 has a harness set (a frame 10, a hip belt 20, a chest belt 30, and a thigh belt 80), a power unit 40,

auxiliary units

60R, 60L, a remote controller 90, and the like. The thigh strap 80 may be omitted from the bundle. In this case, the harness set is made up of hip harness 20, chest harness 30 and frame 10. Chest strap 30 may also be omitted, and in the case of chest strap 30 also being omitted, the set of straps is made up of hip strap 20 and frame 10, and is worn at least around the hip of the wearer. Hereinafter, the remote controller 90, the frame 10, the hip belt 20, the chest belt 30, the power unit 40, the

auxiliary units

60R, 60L, and the thigh belt 80 will be described in order.

The remote controller 90 includes: command input means for giving commands regarding turning on or off the supply of electric power to the power assist clothes 1, selecting an operation mode, adjusting the amount of assist torque, adjusting the time of assist torque, and the like; a display device for displaying the state of the battery 47 inside the power unit 40, and the like; communication means for wirelessly transmitting and receiving information to and from the controller. A touch-close fastener (hook side) is provided on the rear surface of the remote controller 90, and the remote controller 90 is attached to the touch-close fastener 33E (loop side) provided on the shoulder strap 33L of the chest strap 30.

Fig. 5 is a front view of the frame 10, and fig. 6 is a side view of the frame 10. The frame 10 is formed of a metal tube or the like (e.g., an aluminum tube) capable of being elastically deformed as appropriate in accordance with the hip width of the wearer (as shown by the broken lines in fig. 5). At the right lower end portion of the frame 10, a tubular rotation support portion 11R is provided, the rotation support portion 11R having a through hole 11RA extending along an imaginary rotation axis 11J, and at the left lower end portion of the frame 10, a tubular rotation support portion 11L is provided, the rotation support portion 11L having a through hole 11LA extending along the imaginary rotation axis 11J. The imaginary axis of rotation 11J is located at the position of the hip joint of the wearer wearing the power assist suit 1.

A stopper 12R protruding outward (in this case, right side) is provided above the rotation support portion 11R, and a stopper 12L protruding outward (in this case, left side) is provided above the rotation support portion 11L. The

stoppers

12L, 12R limit the range of the rotation angle of the

idle gears

63L, 63R of the

assist units

60L, 60R (i.e., the range of the swing angle of the

swing arm portions

71L, 71R). This will be described in detail in the description of the

auxiliary units

60L, 60R.

As shown in fig. 1 and 2, the frame 10 is fixed to the power unit 40 at an upper portion. As shown in fig. 23, the auxiliary unit 60L is connected with a shaft 68 inserted into a through hole 11LA of the rotation support portion 11L at the left lower end portion of the frame 10, and an adaptor 64B, a coupling member 66, an adaptor 64C, a slip-off preventing ring 67, and the like are mounted at the front end portion of the shaft 68. As shown in fig. 1, the coupling member 66 is fixed to the mounting hole 21LA of the hip side pad 21L. Similarly, the auxiliary unit 60R is connected with a shaft 68 inserted into the through hole 11RA of the rotation support portion 11R at the lower right end portion of the frame 10, and an adaptor 64B, a coupling member 66, an adaptor 64C, a slip-off preventing ring 67, and the like are mounted at the front end portion of the shaft 68. As shown in fig. 1, the coupling member 66 is fixed to the mounting hole 21RA of the hip side pad 21R.

Figure 7 is a development of the hip belt 20. The hip belt 20 has

hip side pads

21L and 21R,

hip front belts

22L and 22R, hip

auxiliary belts

23L and 23R, hip rear

upper belts

24L and 24R, hip rear

lower belts

25L and 25R, and the like. The hip belt 20 has a hip side pad 21L held on the left hip of the wearer and a hip side pad 21R held on the right hip of the wearer. Since the coupling member 66 is held on the imaginary rotation axis 11J shown in fig. 1, the mounting holes 21LA of the hip side pads 21L and the mounting holes 21RA of the hip side pads 21R connected to the coupling member 66 are held around the imaginary rotation axis 11J. The

hip side pads

21L, 21R are formed, for example, by stacking layers of a three-dimensional mesh having elasticity, a foam sheet, and a nylon cloth from the wearer side and sewing the layers to integrate the layers. The edges of the

hip side pads

21L, 21R are covered with a belt-like member 21A made of cloth or the like and having an elongated shape, and the three-dimensional mesh, the foam sheet, the nylon cloth, and the belt-like member 21A are sewn together to be integrated.

As shown in fig. 7, one side end of the hip front belt 22L is fixed (sewn) to the hip side pad 21L, and at the other side end, a buckle 22LB allowing adjustment of the belt length and coupling and decoupling of the belt is connected. Similarly, one side end of the hip front belt 22R is fixed (sewn) to the hip side pad 21R, and a buckle 22RB allowing adjustment of the belt length and coupling and decoupling of the belt is connected at the other side end.

One side end of the hip coupling band 22LC extending upward is fixed (sewn) to a middle portion of the hip front band 22L, and a coupler 22LD (e.g., a D-ring) is mounted at the other side end of the hip coupling band 22 LC. Similarly, one side end of hip coupling band 22RC extending upward is fixed (sewn) to a middle portion of hip front band 22R, and a coupler 22RD (e.g., a D-ring) is mounted at the other side end of hip coupling band 22 RC. For example,

hip front belts

22L, 22R and hip coupling belts 22LC, 22RC are resin fiber belts, such as nylon belts.

As shown in fig. 7, one side end of the hip auxiliary belt 23L is fixed (sewn) to the hip front belt 22L, and the other side end of the hip auxiliary belt 23L is fixed (sewn) to the hip side pad 21L. In order to stably hold the coupling member 66 in the connected position, the other side end of the hip auxiliary belt 23L is fixed near the mounting hole 21LA of the hip side pad 21L. Similarly, one side end of the hip auxiliary belt 23R is fixed (sewn) to the hip front belt 22R, and the other side end of the hip auxiliary belt 23R is fixed (sewn) to the hip side pad 21R. In order to stably hold the coupling member 66 in the connected position, the other side end of the hip auxiliary belt 23R is fixed near the mounting hole 21RA of the hip side pad 21R. The hip

auxiliary belts

23L, 23R are, for example, resin fiber belts such as nylon belts.

As shown in fig. 7, one side end of the hip rear upper belt 24L is fixed (sewn) to the hip side pad 21L, and the other side end is connected to a coupler-adjuster 24A that allows adjustment of the belt length. Similarly, one side end of the hip rear upper belt 24R is fixed (sewn) to the hip side pad 21R, and the other side end is connected to a coupler-adjuster 24A that allows adjustment of the belt length. For example, the hip rear

upper belts

24L, 24R are resin fiber belts such as nylon belts.

As shown in fig. 7, one side end of the hip rear lower belt 25L is fixed (sewn) to the hip side pad 21L, and the other side end is connected to a coupler-adjuster 25A that allows adjustment of the belt length. Similarly, one side end of the hip rear lower belt 25R is fixed (sewn) to the hip side pad 21R, and the other side end is connected to a coupler-adjuster 25A that allows adjustment of the belt length. For example, the hip rear

lower belts

25L, 25R are stretchable rubber belts. In order to stably hold the coupling member 66 in the connected position, one side end portion of the hip rear lower belt 25L is fixed near the mounting hole 21LA of the hip side pad 21L. Similarly, in order to stably hold the coupling member 66 in the connected position, one side end portion of the hip rear lower belt 25R is fixed near the mounting hole 21RA of the hip side pad 21R. The hip rear

lower belts

25L, 25R can be in contact with the buttocks of the wearer S in a state of being connected to each other by the coupler-adjuster 25A (refer to fig. 4).

Fig. 8 is a front view of the chest belt 30. Fig. 9 is an exploded perspective view of parts constituting shoulder belt 33R, and fig. 10 is a sectional view of shoulder belt 33R. The chest band 30 has chest front straps 31L and 31R, chest rear straps 32,

shoulder straps

33L and 33R, and the like.

As shown in fig. 8, one side end of the chest front belt 31L is connected to a buckle 31LB that allows adjustment of the belt length and coupling and decoupling of the belt, and the other side end is connected to a coupler-adjuster 31LA that allows adjustment of the belt length. Similarly, one side end of the chest front belt 31R is connected to a buckle belt 31RB that allows adjustment of the belt length and coupling and decoupling of the belt, and the other side end is connected to a coupler-adjuster 31RA that allows adjustment of the belt length.

One side end of the downwardly extending chest coupling band 31LC is fixed (sewn) to a middle portion of the chest front band 31L, and a coupler 31LD (e.g., a snap hook) is mounted at the other side end of the chest coupling band 31 LC. An adjuster 31LE that allows adjustment of the belt length is provided on the chest coupling belt 31 LC. Similarly, one side end of the downwardly extending chest coupling band 31RC is fixed (sewn) to a middle portion of the chest front band 31R, and a coupler 31RD (e.g., a spring hook) is mounted at the other side end of the chest coupling band 31 RC. An adjuster 31RE that allows adjustment of the belt length is provided on the chest coupling belt 31 RC. For example, the

chest front belts

31L, 31R and the chest coupling belts 31LC, 31RC are resin fiber belts such as nylon belts.

As shown in fig. 1, the coupler 31LD mounted on the chest coupling band 31LC is coupled with the coupler 22LD mounted on the hip coupling band 22LC, and the coupler 31RD mounted on the chest coupling band 31RC is coupled with the coupler 22RD mounted on the hip coupling band 22 RC.

As shown in fig. 8, one side end of the chest belt 32 is connected to the coupler-adjuster 31LA, and the other side end is connected to the coupler-adjuster 31 RA. For example, the chest back belt 32 is a resin fiber belt such as a nylon belt, and a widened portion 32A whose belt width increases in the longitudinal direction is provided at a central portion of the chest back belt 32.

As shown in fig. 8, one side end of shoulder belt 33L is fixed (sewn) to the middle portion of chest front belt 31L, and the other side end is inserted into a loop 33A provided with a coupler 33B (e.g., a spring hook). Shoulder straps 33L are folded back at loops 33A, and opposing portions of shoulder straps 33L are attached to each other by touch-

close fasteners

33C, 33D. A touch-close fastener 33C (loop side) is mounted on one side (one side end portion) of the shoulder strap 33L closer to the chest front strap 31L in the longitudinal direction, and a touch-close fastener 33D (hook side) is mounted on one side (the other side end portion) of the shoulder strap 33L farther from the chest front strap 31L in the longitudinal direction (see fig. 9). A touch-close fastener 33E (loop side) for attaching a remote controller 90 (see fig. 1) is mounted to a surface of shoulder strap 33L that is exposed when shoulder strap 33L is folded back at loop 33A.

Similarly, one side end of shoulder strap 33R is fixed (sewn) to the middle portion of chest front strap 31R, and the other side end is inserted into ring 33A provided with coupler 33B. Shoulder straps 33R are folded back at loops 33A, and opposing portions of shoulder straps 33R are attached to each other by touch-

close fasteners

33C, 33D. A touch-close fastener 33C (loop side) is mounted on one side (one side end portion) of shoulder strap 33R closer to chest front strap 31R in the longitudinal direction, and a touch-close fastener 33D (hook side) is mounted on one side (the other side end portion) of shoulder strap 33R farther from chest front strap 31R in the longitudinal direction (see fig. 9). Shoulder straps 33R differ from shoulder straps 33L in that touch-close fastener 33E (loop side) is not attached to the surface of shoulder straps 33R that is exposed when shoulder straps 33R are folded back at loop 33A.

As shown in fig. 1, coupler 33B mounted on shoulder belt 33L is coupled with one of a plurality of couplers 40LF (e.g., hooks) provided in power unit 40, and coupler 33B mounted on shoulder belt 33R is coupled with one of a plurality of couplers 40RF (e.g., hooks) provided in power unit 40. For example, a coupler 40RF (e.g., a hook) may be provided at an upper portion of the frame 10, so that the coupler 33B may be coupled to the coupler 40 RF.

Next, the structure of

shoulder straps

33L, 33R will be described using fig. 9 and 10. As shown in fig. 9,

shoulder straps

33L, 33R are each formed by: a layer of the three-dimensional mesh 33F, the nylon cloth 33G, the touch-close fastener 33C (loop side) and the touch-close fastener 33D (hook side) is laid, the edge of the tape is covered with the tape-like member 33H, and then these layers are sewn at a sewing position 33K (see fig. 10) to integrate these layers.

The three-dimensional mesh 33F (e.g., a honeycomb structure manufactured by Unitika Technos limited under the model name SK 1145W) is shaped to extend in the longitudinal direction and has a predetermined width (e.g., a width of about 20 to 70 mm) and a predetermined thickness (e.g., a thickness of about 2 to 10mm, preferably about 5 mm). The three-dimensional net 33F having elasticity and quick-drying property is provided on one side of the wearer's body and serves as a cushion.

Thus, air can circulate around the body in contact with the three-dimensional mesh 33F. Since this suppresses the rise in humidity between

shoulder straps

33L, 33R and the body, the feeling of coolness can be enhanced, and when the wearer performs a task involving repeatedly performing the stooping posture and the standing posture for a long time, the feeling of discomfort such as stuffiness can be reduced. Since the three-dimensional mesh 33F has a sufficient cavity inside, the restoring force of the three-dimensional mesh 33F when deformed can be maintained only by applying a small force. When the external force applied to the three-dimensional mesh 33F is removed, the three-dimensional mesh 33F rapidly restores its original shape. Therefore, three-dimensional mesh 33F on the body side provided at

shoulder straps

33L, 33R is easily deformed to follow the shape of the body when in contact with the body, which can enhance the adhesion force of

shoulder straps

33L, 33R to reduce the transmission loss of the assist force.

Nylon 33G (e.g., model name A4400-Y24, mass 194G/m manufactured by Masuda corporation)²The product of (b) is longer than the three-dimensional net 33F in the longitudinal direction, and the nylon cloth 33G is made of resin fiber or the like. The nylon portion 33G is shaped to extend in the longitudinal direction and has a predetermined width (e.g., a width of about 20mm to 70 mm) and a predetermined thickness (e.g., a thickness of about 2mm or less). A touch-close fastener 33C (loop side) having a length substantially equal to that of the three-dimensional mesh 33F (for example, a product of model name 2QM (loop side) manufactured by YKK corporation) is laid on the nylon cloth 33G from one end 33GA side of the nylon cloth 33G toward the other end 33GB of the nylon cloth 33G. The touch-close fastener 33C (loop side) is shaped to extend in the longitudinal direction and has a predetermined width (for example, a width of about 20 to 70 mm) and a predetermined thickness (for example, a thickness of about 1 to 3mm, preferably about 2 mm).

A touch-close fastener 33D (hook side) (for example, a product of model name 1QN (hook side) manufactured by YKK corporation) is laid on the nylon cloth 33G from the other end portion 33GB of the nylon cloth 33G toward one end portion 33GA of the nylon cloth 33G. The touch-close fastener 33D (hook side) is shaped to extend in the longitudinal direction and has a predetermined width (e.g., a width of about 20 to 70 mm) and a predetermined thickness (e.g., a thickness of about 1 to 3mm, preferably about 2 mm). Here, the touch-close fastener 33C (loop side) is used as an example of a loop-side fastener. Touch-close fastener 33D (hook side) is used as an example of a hook side fastener.

A touch-close fastener 33E (loop side) (e.g., a product of model name 2QM (loop side) manufactured by YKK corporation) for attaching a remote controller 90 (see fig. 1) is mounted on the nylon cloth 33G of the shoulder strap 33L for the left shoulder on the side opposite to the touch-close fastener 33D (hook side). The touch-close fastener 33E (loop side) is shaped to extend in the longitudinal direction and has a predetermined width (for example, a width of about 20 to 70 mm) and a predetermined thickness (for example, a thickness of about 1 to 3mm, preferably about 2 mm).

The belt-like member 33H is shaped to extend in the longitudinal direction and has a predetermined width (e.g., a width of about 20mm to 70 mm) and a predetermined thickness (e.g., a thickness of about 2mm or less). Thus, the three-dimensional web 33F is shaped substantially equal in length to the touch-close fastener 33C (loop side), and the three-dimensional web 33F is provided on the touch-close fastener 33C (loop side) along the entire length of the touch-close fastener 33C (loop side), with the nylon cloth 33G interposed between the three-dimensional web 33F and the touch-close fastener 33C. Therefore, the length of the three-dimensional net 33F can be easily adjusted and reduced to the length of the body-contacting portion of the

shoulder straps

33L, 33R, which leads to reduction in manufacturing cost.

Alternatively, a reflective cloth (for example, a product of model name MR-801 manufactured by Unitika Sparklite ltd) that reflects incident light from the light source in the light source direction may be employed as the belt-like member 33H of the

shoulder straps

33L, 33R. In this case, the wearer is not required to wear the reflective garment worn at a construction site or the like on the power assist suit 1, so that it is possible to improve the work efficiency and to make the sense of discomfort, such as heat generation, relieved when the wearer wears the power assist suit 1 for a long time. It is preferable that the shape of the reflective fabric is designed to extend in the longitudinal direction and have a predetermined width (e.g., a width of about 20 to 70 mm) and a predetermined thickness (e.g., a thickness of about 2mm or less).

For example, a reflective cloth (e.g., a product of model name MR-801 manufactured by Unitika Sparklite ltd) may be provided to cover and be sewn together with the edges at both sides in the longitudinal direction of the belt-like member 21A, the

hip front belts

22L, 22R, and the hip rear

upper belts

24L, 24R of the hip belt 20. Further, a reflective cloth (for example, a product of model name MR-801 manufactured by unitika sparklite ltd) is provided to cover and be sewn together with edges at both sides in the longitudinal direction of the cover 81 and the tape 82 of the thigh belt 80. This can improve visibility at a construction site or the like to achieve higher safety.

Fig. 11 shows the appearance of the power unit 40 fixed to the frame 10, and fig. 12 is a sectional view of the back pad 43, the spacer 41A, and the frame 10 shown in fig. 11 taken along the line XII-XII. As shown in fig. 1 and 2, the power unit 40 is fixed to an upper portion of the frame 10 at the outside of the wearer's back. The spacer 41A is mounted on a portion of the power unit case 41 facing the back of the wearer, and the plate 42 is mounted to the spacer 41A. Further, the back pad 43 is mounted on the plate 42 by adhesion with a double-sided tape or the like, wherein the plate 42 is closer to the wearer's back than the upper portion of the frame 10.

The outer tubes 44RF, 44RR that house cables for transmitting assist torque extend from the lower right portion of the power unit housing 41, and the outer tubes 44LF, 44LR that house cables for transmitting assist torque extend from the lower left portion of the power unit housing 41. The battery 47, the power generation section 50, the controller 46, and the like are housed in the power unit case 41. The internal structure of the power unit case 41 (the internal structure of the power unit 40) will be described later. As shown in fig. 1, the power unit case 41 is provided with couplers 40LF, 40RF (e.g., hooks), and the couplers 33B of the

respective shoulder straps

33L, 33R of the chest strap 30 are coupled to the couplers 40LF, 40 RF.

The back pad 43 is formed of an elastomer such as rubber (e.g., a closed cell polyethylene foam manufactured by Sanwa Kako corporation under the model name L-2500). As shown in fig. 11 and 12, the back pad 43 has an inverted T-shape as viewed from the front side and has a predetermined thickness (for example, a thickness of about 10mm to 100mm, preferably about 35 mm) in the front-rear direction (left-right direction in fig. 12). The back pad 43 is disposed such that a central portion in the left-right direction of the back pad 43 faces the wearer's spine. As shown in the sectional view of fig. 12, the back pad 43 is hollow, has a cavity 43B formed inside, and a plurality of vent holes 43A that allow communication between the inside and the outside of the back pad 43 are provided in the surface of the back pad 43 on the side facing the back of the wearer.

For example, as shown in fig. 13, when the wearer S straightens his or her back to be in an upright state during the work of lifting the load N, the force with which the wearer' S back presses the back pad 43 is reduced, so that the back pad 43, which has been compressed, recovers its original shape and sucks air into the chamber 43B through the ventilation holes 43A. The air flow generated during this process cools the wearer S.

On the other hand, as shown in fig. 14, when the wearer S is in a stooped-down state in which the wearer S tries to lift the load N, the force with which the back of the wearer S presses the back pad 43 increases, so that the back pad 43 is compressed and pressed, and air is discharged and exhausted from the chamber 43B through the vent holes 43A. The air flow generated during this process cools the wearer S. Therefore, every time the wearer S performs a task involving repeatedly taking the stoop posture and the standing posture, the comfort during the task can be improved by generating the airflow at the back of the wearer S.

Since the power unit case 41 or the frame 10 is pressed against the back of the wearer S by the elastic body rear cushion 43 when the wearer S is in the stooped-down posture, the wearer S can be prevented from feeling back pain and the working efficiency can be improved. The back pad 43 having a substantially inverted T-shape can prevent the power unit case 41 and the frame 10 from twisting in the left-right direction, thereby ensuring effective transmission of the assist force.

The back pad 43 may be: as shown in fig. 15, the back pad 43, the surface of the back pad 43 facing the back of the wearer has a smooth convex shape; or as shown in fig. 16, a back pad 43X, the surface of the back pad 43X facing the wearer's back having a smooth concave shape; or as shown in fig. 17, a back pad 43Y, the surface of the back pad 43Y facing the back of the wearer has a flat shape. The shape of the back pad 43 is not particularly limited. It is preferable that the ventilation holes 43A are provided only in the surface facing the back of the wearer.

In another example, a small blower may be provided within the chamber 43B of the back pad 43 and driven only when necessary to deliver air to the wearer's back through the vents 43A, thereby creating a cooling effect.

In still another example, the chamber 43B of the back pad 43 may be omitted, and the back pad 43 may have a solid structure provided with a plurality of through holes extending through the back pad 43 in the front-rear direction (left-right direction in fig. 12). Therefore, when the back pad 43 has a solid structure, good ventilation is also ensured, so that when the wearer performs a work involving repeatedly taking a stooped-down posture and an upright posture for a long time with the power assist suit closely attached to his or her body, discomfort such as stuffiness can be reduced.

The power unit 40 has a power generation portion 50, and the power generation portion 50 generates assist torques to be transmitted to the assist unit 60L and the assist unit 60R, respectively. As shown in fig. 18, the reinforcing frame 45, the controller 46, the battery 47, the power generation section 50, and the like are housed in a power unit case 41 made of resin or the like. The reinforcing frame 45 is made of metal, such as aluminum, and serves to provide support and positioning for each part constituting the power generation section 50, and serves as a heat radiation plate for the controller 46 and the battery 47.

The power generation unit 50 is paired right and left, and has a drive pulley 51, a speed reducer 52, an encoder 53 (rotation angle detection device), an outer biasing body 54, a coil spring 55, an inner biasing body 56, an electric motor 57, and the like. The electric motor 57 has an encoder 57E (rotation angle detection device). As shown in fig. 19, the drive pulley 51, the speed reducer 52, the encoder 53, the outer biasing body 54, the coil spring 55, the inner biasing body 56, and the electric motor 57 are disposed to rotate about the power rotation axis 50JL or 50 JR. Next, the left power generation section 50 will be described in detail using fig. 19. The electric motor 57 corresponds to an actuator that generates assist torque.

As shown in fig. 19, a bearing support body 45A is provided at a lower end portion of the reinforcing frame 45, and an outer race of a bearing 51Z (radial bearing) is fixed to the bearing support body 45A.

The pulley shaft 51A of the drive pulley 51 is fitted on the inner race of the bearing 51Z. A reduction shaft 52A of the reduction gear 52 is fitted on the drive pulley 51. The drive pulley 51 is formed of a double grooved pulley and has

pulley grooves

51B, 51C. The cable 44LFC in the outer tube 44LF is wound around the pulley groove 51B, and the cable 44LRC in the outer tube 44LR is wound around the pulley groove 51C. For example, the outer tubes 44LF, 44LR are resin tubes, and the cables 44LFC, 44LRC are wires each formed by a thin bundle of wires made of stainless steel or the like. The drive pulley 51 is made of resin such as polyacetal.

The outer tube 44LF and the cable 44LFC are guided by a guide member 45Y mounted on a support body 45Z provided on the reinforcing frame 45, and the outer tube 44LF and the cable 44LFC are inserted through a grommet 45X mounted in the cable hole 41B and pulled to the outside of the reinforcing frame 45 and the power unit case 41. Grommet 45X is made of an elastic body such as rubber and seals holes in reinforcing frame 45 and power unit case 41 and a gap around outer tube 44LF to prevent rainwater and the like from entering power unit case 41 from the outside of power unit case 41. The support body 45Z and the guide member 45Y correspond to a cable guide and guide the cable 44LFC wound around the drive pulley 51 to the cable hole 41B in a straight line. Therefore, the cable 44LFC is not subjected to the force in the strain direction, so that a decrease in the assist torque transmission efficiency, a break in the cable 44LFC, and the like can be prevented. To protect the outer tubes 44LF, 44LR, 44RF, 44RR and the frame 10 or to protect the wearer, a cover may be provided to cover a portion or all of the frame 10 along with the outer tubes 44LF, 44LR, 44RF, 44 RR.

The speed increasing shaft 52B of the speed reducer 52 is fitted on a bearing 52Z (radial bearing) which bearing 52Z is fitted in a hole of the support body 45B provided on the reinforcing frame 45, and is also fitted on a bearing 52C inside the speed reducer 52. The outer race of the bearing 52Z is fitted on the support body 45B, and the speed-increasing shaft 52B is fitted on the inner race of the bearing 52Z. The speed reducer 52 reduces the rotational speed input to the speed-increasing shaft 52B in accordance with the set speed reduction ratio and outputs the resultant rotation to the speed-reducing shaft 52A. Conversely, the speed reducer 52 increases the rotation speed input into the speed reduction shaft 52A according to the reciprocal of the set speed reduction ratio (1/speed reduction ratio) and outputs the resulting rotation to the speed increase shaft 52B. The reduction shaft 52A is supported by a bearing 52D fitted in the reduction gear 52.

Therefore, the drive pulley 51 is supported by the bearing 51Z and the bearing 52D of the reduction shaft 52A so as to be supported in a fixed manner at both ends. As shown in fig. 19, the drive pulley shaft member forming the shaft of the drive pulley 51 includes a pulley shaft 51A and a deceleration shaft 52A. As shown in fig. 19, the drive pulley shaft members (the pulley shaft 51A and the reduction shaft 52A) are supported within the power unit 40 by bearings 51Z and bearings 52D at both sides of the drive pulley 51 in the direction of the drive pulley rotation axis (the power rotation axis 50JL in this case). Therefore, the drive pulley shaft member is more firmly supported by the bearing 51Z and the bearing 52D than in the case where the deceleration shaft 52A is supported only in a cantilever form. Therefore, the drive pulley 51 can be supported by the

smaller bearings

52C and 52D, and a smaller speed reducer can be employed, as compared with the case where the speed reduction shaft 52A is supported in a cantilever form. Alternatively, the decelerating shaft 52A may be further supported by a support body (not shown) provided on the reinforcing frame 45 and a bearing (not shown) provided on the support body.

Since the assist torque is transmitted through the cable, the drive pulley 51 and the idler pulleys 63L, 63R may be arranged such that the drive pulley rotation axis (in this case, the power rotation axis 50JL) shown in fig. 19 and the imaginary rotation axis 11J (i.e., the pulley rotation axis) shown in fig. 1 and 2 are not parallel to each other. Therefore, great flexibility is allowed in setting the pulleys, and the drive pulley 51 can be set flexibly, which is convenient because various arrangements can be tried to achieve an improvement in power transmission efficiency or a reduction in size and weight.

The encoder 53 is mounted on a support body 45B provided on the reinforcing frame 45 and fitted on the speed-increasing shaft 52B, and outputs a detection signal to the controller 46 in accordance with the rotation of the speed-increasing shaft 52B. Based on the detection signal from the encoder 53, the controller 46 can detect the forward inclination angle θ (see fig. 14) of the upper body of the wearer with respect to the thighs.

The outer biasing body 54 is fitted to the front end of the speed increasing shaft 52B and is supported via a bearing 54Z (thrust bearing) by a support body 45C provided on the reinforcing frame 45. The outer bias 54 has a flange shape and has a spring support shaft 54A near an edge of the outer bias 54. As shown in fig. 20, the spring support shaft 54A is inserted into a support hole 55A provided at an outer peripheral end portion of the coil spring 55. Therefore, the outer biasing body 54 rotates the coil spring 55 in the compression direction or the extension direction as the speed increasing shaft 52B rotates.

As shown in fig. 20, the spring support shaft 54A of the outer bias 54 is inserted into a support hole 55A formed at an outer peripheral end portion of the coil spring 55, and an inner peripheral end portion 55B of the coil spring 55 is inserted into a groove 56B formed in the shaft 56A of the inner bias 56. Thus, the outer peripheral end portion of the coil spring 55 is supported by the spring support shaft 54A of the outer biasing body, and the inner peripheral end portion 55B of the coil spring 55 is supported by the shaft 56A of the inner biasing body 56. The inner peripheral end portion 55B side of the coil spring 55 rotates in the compression direction or the expansion direction via the inner biasing body 56 in response to the rotation of the electric motor 57. The outer peripheral end portion side of the coil spring 55 rotates in the compression direction or the extension direction via the speed reducer 52 and the outer biasing body 54 in response to the rotation of the drive pulley 51 in accordance with the forward tilt angle of the upper body of the wearer with respect to the thighs.

The inner biasing body 56 has a groove 56B into which an inner peripheral end portion 55B of the coil spring 55 is inserted, and the inner biasing body 56 is fitted on a motor shaft 57A of the electric motor 57 and supported via a bearing 56Z (radial bearing) by a supporting body 45D provided on the reinforcing frame 45.

The electric motor 57 is supported by

support members

45E and 45F provided on the reinforcing frame 45. A motor shaft 57A of the electric motor 57 is fitted on the inner biasing body 56. The electric motor 57 has an encoder 57E that outputs a detection signal in accordance with the rotation of the motor shaft 57A. The electric motor 57 is driven to rotate by a control signal from the controller 46 and outputs a detection signal from the encoder 57E to the controller 46 along with the rotation.

The controller 46 includes: communication means for wirelessly transmitting information to the remote controller 90 (see fig. 1 and 2) and wirelessly receiving information from the remote controller 90; a control device (CPU) for calculating an assist torque based on an instruction input from the remote controller 90 and detection signals from the encoder 53 and the encoder 57E; and a drive circuit that converts a drive signal from the control device into a current supplied to the electric motor 57.

The battery 47 is, for example, a lithium ion capacitor or a lithium ion battery, and supplies power to the controller 46 and the electric motor 57.

As shown in fig. 3 and 4, the assisting unit 60L is worn on (connected to) the thigh and belt set (the frame 10 and the hip belt 20) of the wearer S to assist the movement of the thigh of the wearer S (or the movement of the hip of the wearer S) relative to the hip. Similarly, the assisting unit 60R is worn on (connected to) the thigh and belt set (the frame 10 and the hip belt 20) of the wearer S to assist the movement of the thigh of the wearer S with respect to the hip (or the movement of the hip of the wearer S with respect to the thigh).

As shown in fig. 1, the assist unit 60L has a rotating portion 61L and a link 70L, the rotating portion 61L being a portion surrounding the idle gear 63L, the link 70L being a portion downward from the swing arm portion 71L. Similarly, the assist unit 60R has a rotating portion 61R and a link 70R, the rotating portion 61R being a portion surrounding the idle gear 63R, the link 70R being a portion downward from the swing arm portion 71R. Since the structure of the rotating portion 61L of the assist unit 60L is the same as that of the rotating portion 61R of the assist unit 60R, the rotating portion 61L of the assist unit 60L will be described below as an example. In the link 70R shown in fig. 27, the arm connecting the idle gear 63L and the thigh wearing portion 78L to each other is formed of a swing arm portion 71R, an intermediate arm portion 72, and a rail 73 (see fig. 1), and the link 70L has the same configuration. Therefore, the swing arm portion 71L corresponds to a part of the arm portion.

As shown in fig. 23, the turning portion 61L around the idle pulley 63L in the assist unit 60L includes, from the left side, a rotation stopper 62L, a shaft 68, a swing arm portion 71L, the idle pulley 63L, an adapter 64A, a pulley housing 65, a turning support portion 11L of the frame 10, an adapter 64B, a coupling member 66, an adapter 64C, a slip-off preventing ring 67, and the like. The idler 63L and the pulley housing 65 are made of resin or the like.

Fig. 22 shows a state in which the parts shown in fig. 23 have been assembled. As shown in fig. 24, the lower end portion of the frame 10 is fitted into the frame accommodating space 65B of the pulley housing 65, and the rotation supporting portion 11L of the frame 10 is fitted into the supporting hole 65C of the pulley housing 65, and then the stopper 12L of the frame 10 is inserted into the stopper hole 65D of the pulley housing 65. As shown in fig. 22 and 23, the adapter 64A is mounted from the pulley accommodating space 65A side (see fig. 23) of the pulley housing 65, and the idle pulley 63L and the swing arm portion 71L are disposed so as to cover the adapter 64A, and then the shaft 68 is inserted. After the shaft 68 is inserted, the rotation stopper 62L is provided, and the rotation stopper 62L, the swing arm portion 71L, and the idle pulley 63L are fixed to each other by a fastening member such as a screw so as to be integrated. Thereafter, the adaptor 64B, the coupling member 66, and the adaptor 64C are fitted from the front end portion side of the shaft 68, i.e., the side opposite to the pulley accommodating space 65A of the pulley housing 65 (see fig. 23), and the disengagement preventing ring 67 (e.g., a C-ring) is fitted into the groove 68M at the front end portion of the shaft 68. This structure allows the idle gear 63L, the swing arm portion 71L, and the rotation stopper 62L to integrally rotate about the imaginary rotation axis 11J. The coupling member 66 is also rotatable about the imaginary axis of rotation 11J.

In fig. 21, an adjustment member 65R is provided on the upper right side of the pulley housing 65, and an adjustment member 65F is provided on the upper left side of the pulley housing 65. The

adjustment members

65F, 65R are, for example, similar to members that adjust the length of the brake cables of the bicycle, and the

adjustment members

65F, 65R allow adjustment of the length of the cables 44LFC, 44LRC protruding from the outer tubes 44LF, 44 LR. The cable 44LFC extending from the regulating member 65F is wound around a groove 63LB (see fig. 22) of the idler 63L, and a barrel-shaped end portion 44LFT at a leading end portion of the cable 44LFC is accommodated within a barrel-shaped end accommodating portion formed in the idler 63L. Similarly, the cable 44LRC extending from the adjusting member 65R is wound around a groove 63LB (see fig. 22) of the idler pulley 63L, and a barrel-shaped end portion 44LRT at a front end portion of the cable 44LRC is accommodated in a barrel-shaped end accommodating portion formed in the idler pulley 63L.

In fig. 21, when the drive pulley 51 (see fig. 19) is driven to rotate and the cable 44LFC is pulled upward to extend the cable 44LRC downward, the idler 63L rotates in the clockwise direction (rightward rotational direction) about the imaginary rotational axis 11J. When the drive pulley 51 (see fig. 19) is driven to rotate and the cable 44LFC is extended downward to pull the cable 44LRC upward, the idler 63L rotates in the counterclockwise direction (leftward rotating direction) about the imaginary axis of rotation 11J.

When the idle pulley 63L rotates in the right rotational direction from the state shown in fig. 21 (in this case, when the wearer increases the forward tilt angle), the rotation stopper 62L hits the stopper 12L at the rotation angle θ F, so that the idle pulley 63L cannot rotate further in the right rotational direction. This means that the forward tilt angle θ (see fig. 14) of the wearer with respect to the upright state is limited to the rotation angle θ F or less. Similarly, when the idle pulley 63L rotates in the leftward rotating direction from the state shown in fig. 21, (in this case, when the wearer increases the backward tilt angle), the rotation stopper 62L hits the stopper 12L at the rotation angle θ R, so that the idle pulley 63L cannot rotate further in the leftward rotating direction. This means that the backward tilt angle of the wearer with respect to the upright state is limited to the rotation angle or less.

Therefore, the rotation stopper 62L and the stopper 12L constitute a stopper mechanism that limits a range of the rotation angle of the idle pulley 63L (i.e., a range of the swing angle of the swing arm portion 71L), that is, a swing range of the thighs of the wearer with respect to the hips. Such a stopper mechanism having a simple structure can prevent the wearer from being in a state of leaning forward or bending backward beyond his or her physical limit, and can appropriately avoid physical burden on the wearer.

Instead of the stopper mechanism formed by the rotation stopper 62L and the stopper 12L shown in fig. 21, a stopper mechanism formed by the slit 63LS and the stopper 65ZS shown in fig. 25 may be employed. In the rotation part 61LZ of the assist unit 60LZ shown in fig. 25, a slit 63LS is formed along the outer periphery of the idle gear 63 LZ. The pulley housing 65Z is provided with a stopper 65ZS, and the stopper 65ZS is formed to protrude so as to be inserted into the slit 63 LS. In addition, in this case, as in fig. 21, the forward tilt angle of the wearer with respect to the upright state is limited to the rotation angle θ F or less, and the backward tilt angle of the wearer with respect to the upright state is limited to the rotation angle θ R or less.

Alternatively, an elastic member may be provided between the rotation stopper 62L and the stopper 12L (or between the end of the slit 63LS and the stopper 65 ZS) to reduce the influence of the impact. The controller 46 may be configured to control the electric motor to reduce the swing speed and thereby reduce the impact immediately before the rotation stopper 62L hits the stopper 12L. (the controller 46 knows the angle at which the rotation stop 62L strikes the stop 12L).

As shown in fig. 22, a surface of the idler 63L that is orthogonal to an idler rotation axis that is a rotation axis (in this case, the imaginary rotation axis 11J) of the idler 63L and faces the pulley housing 65 will be referred to as an idler end surface 63 LC. The surface of the pulley housing 65 that faces the idler end surface 63LC at a close distance and is not in contact with the idler end surface 63LC is referred to as a housing facing surface 65E. At least one of the idler end surface 63LC and the case opposing surface 65E has a contact area reducing structure that reduces the contact area between the idler end surface 63LC and the case opposing surface 65E in a case where the idler end surface 63LC and the case opposing surface 65E contact each other as the idler 63L is tilted with respect to the idler rotation shaft (in this case, the imaginary rotation axis 11J). In the example of fig. 22, the contact area reducing structure is formed by a protruding portion 63LA protruding from the idler end surface 63LC toward the case opposing surface 65E. The projection 63LA is formed in an annular shape continuously surrounding the idler rotation axis (imaginary rotation axis 11J), and has a semicircular shape in a cross section taken along an imaginary plane including the idler rotation axis (imaginary rotation axis 11J).

Therefore, when the protruding portion 63LA is in contact with the case opposing surface 65E, the contact is a line contact having a contact area smaller than the surface contact. Specifically, even when the idle pulley 63L tilts with an unexpected large force applied to the idle pulley 63L by the swing arm portion 71L or an unexpected large force applied to the idle pulley 63L by the cables 44LFC, 44LRC, for example, the contact area between the idle pulley 63L and the pulley housing 65 is small. Therefore, the friction can be further reduced, and the loss of the assist torque due to the friction can be further reduced. The protrusion 63LA needs to be formed in at least one of the idler end surface 63LC and the case opposing surface 65E. The shape of the protruding portion 63LA is not limited to a continuous annular shape, and a plurality of protruding portions having a hemispherical shape (a semicircular shape in cross section) may be formed on at least one of the idler end surface 63LC and the case opposing surface 65E. The shape (cross-sectional shape) of these projections is not limited to the semicircular shape.

As shown in fig. 1, the assist unit 60L has a rotating portion 61L and a link 70L, and the assist unit 60R has a rotating portion 61R and a link 70R. Since the structure of the coupler 70L is the same as that of the coupler 70R, the coupler 70R will be described as an example.

As shown in fig. 1, the link 70R of the assist unit 60R has an arm portion (swing arm portion 71R, intermediate arm portion 72, and rail 73) that swings by the assist torque transmitted from the power unit 40, and an upper leg wearing portion 78R that is worn on the upper leg of the wearer and moves along the arm portion. Therefore, the swing arm portion 71R, the intermediate arm portion 72, and the rail 73 each constitute a part of the arm portion, and the arm portion connects the idler pulley 63R and the thigh wearing portion 78R to each other. The arms have an elongated shape extending from the sides of the hips of the wearer along the sides of the thighs of the wearer. Fig. 27 shows the appearance of the coupler 70R, and fig. 26 shows the parts constituting the coupler 70R.

As shown in fig. 27, the link 70R includes a swing arm portion 71R, an intermediate arm portion 72, a rail 73, a cover 74, a slidable portion 75, a thigh-wearing portion 78R, and the like.

As shown in fig. 26, the swing arm portion 71R is an elongated plate-like member extending in the longitudinal direction of the wearer's thigh. A fastening hole 71RB for mounting the idler pulley 63R and a shaft hole 71RC into which the shaft 68 is inserted are formed at an upper portion of the swing arm portion 71R (refer to a swing arm portion 71L in fig. 21 to 23). A support hole 71RA is formed at a lower end portion of the swing arm portion 71R, and the intermediate arm portion 72 is supported at this support hole 71RA so as to be rotatable about an arm portion rotation axis 71 RJ. For example, the swing arm portion 71R is made of metal such as aluminum.

As shown in fig. 26, the middle arm 72 is an elongated member extending in the longitudinal direction of the wearer's thigh. The intermediate arm portion 72 is an arm portion connecting the swing arm portion 71R and the rail 73 to each other, and is made of resin, for example. A support hole 72A for mounting the intermediate arm portion 72 to the support hole 71RA of the swing arm portion 71R is formed at the upper end portion of the intermediate arm portion 72, and a cavity 72B into which the upper end portion of the rail 73 is fitted is formed at the lower end portion of the intermediate arm portion 72.

As shown in fig. 26, the rail 73 is an elongated member extending in a straight line in the longitudinal direction of the wearer's thigh. For example, the rail 73 is made of metal such as aluminum, and as shown in fig. 27, the rail 73 supports the thigh wearing portion 78R integrated with the slidable portion 75R so as to be slidable in the longitudinal direction of the wearer's thigh. The track 73 has an inner surface 73M and an outer surface 73N, the inner surface 73M being the surface on the side facing the wearer's thighs and the outer surface 73N being the surface on the side opposite the wearer's thighs. Each of the inner surface 73M and the outer surface 73N has a groove-like portion 73E (see fig. 29) extending along the rail 73 in the longitudinal direction of the wearer's thigh. Each groove-like portion 73E has groove side surfaces 73A and 73B, which are opposite surfaces, and a groove bottom surface 73C located between the groove side surface 73A and the groove side surface 73B (see fig. 26 and 29). The rail 73 has a substantially H-shape (the shape of the letter H) in a cross section orthogonal to the longitudinal direction, and is light-weight and strong like a so-called H-shaped section. The rail 73 is hollow and has a cavity 73D (see fig. 29) to achieve further weight reduction.

The cover 74 is made of, for example, resin, and as shown in fig. 26, the cover 74 has a cavity 74A in which the lower end portion of the rail 73 is fitted. As shown in fig. 27, the cover 74 prevents the

slidable portions

75, 75R (and the thigh wearing portion 78R integrated with the slidable portion 75R) sliding along the rail 73 from sliding out from the lower end portion of the rail 73.

As shown in fig. 26 and 29, the

slidable portions

75, 75R are provided on the outer surface 73N side of the rail 73 and the inner surface 73M side of the rail 73, respectively. As shown in fig. 29, the

slidable portions

75, 75R are coupled together by a fastening member 75N or the like, and are slidable along the longitudinal direction of the rail 73. When the

slidable portions

75, 75R are coupled together, a through hole 75C is formed at the center, and the rail 73 (see fig. 28) is inserted into the through hole 75C. In addition, a support shaft 75B that supports the bearing 76 is provided on the surface of the

slidable portion

75, 75R facing the rail 73.

As shown in fig. 26 and 27, the thigh wearing portion 78R is in a thin plate shape and has a mounting portion 78A and a wearing portion 78B, the mounting portion 78A forming a portion connected with the slidable portion 75R, the wearing portion 78B being held on the wearer's thigh together with a thigh belt 80 as shown in fig. 32 and 3. The thigh wearing portion 78R may be integrated with at least a part of the slidable portion 75R as shown in fig. 26, or may be formed as a component separate from the slidable portion 75R and connected to the slidable portion 75R by a fastening member such as a screw.

As shown in fig. 29, an inner ring 76C of a bearing 76 (the bearing 76 is a radial bearing and corresponds to a support roller) is fitted outside a support shaft 75B of a slidable portion 75 provided on the outer surface 73N side, and a roller 77 (corresponding to a support roller) made of resin or the like is fitted outside an outer ring 76A of the bearing 76.

As shown in fig. 29, the thigh wearing portion 78R is integrated with the slidable portion 75R provided on the inner surface 73M side. As shown in fig. 29, an inner ring 76C of a bearing 76 (the bearing 76 is a radial bearing and corresponds to a support roller) is fitted on the outer side of the support shaft 75B of the slidable portion 75R, and a roller 77 (corresponding to a support roller) made of resin or the like is fitted on the outer side of an outer ring 76A of the bearing 76. The slidable portion 75R and the thigh-wearing portion 78R are not necessarily integrated (may be separate members).

As shown in fig. 29, the outer ring 76A of the bearing 76 supported on the support shaft 75B is not in contact with the

slidable portions

75, 75R. As shown in fig. 29, a distance D1 between the groove-side surface 73A and the groove-side surface 73B of the rail 73A is set to be slightly larger than the outer diameter of the roller 77, and a small gap 75K is provided between the inner peripheral surface of the

slidable portion

75, 75R and the outer peripheral surface of the rail 73. In fig. 29, the clearance in the Y-axis direction between the inner peripheral surface of the

slidable portions

75, 75R and the outer peripheral surface of the rail 73 is set larger than the clearance in the Y-axis direction between the roller 77 and the groove-

side surfaces

73A, 73B.

Therefore, in fig. 29, when the

slidable portions

75, 75R are displaced leftward with respect to the rail 73, the outer peripheral surface of the roller 77 is in contact with the groove-side surface 73A. (in this case, as shown in fig. 28, a gap K1 is left between the roller 77 and the groove side surface 73B.) when the

slidable portions

75, 75R (see fig. 27) then slide along the longitudinal direction of the rail 73, the roller 77 in contact with the groove side surface 73A rotates and thereby reduces friction during sliding (see fig. 28). Similarly, in fig. 29, when the

slidable portions

75, 75R are displaced rightward with respect to the rail 73, the outer peripheral surface of the roller 77 contacts the groove-side surface 73B. When the

slidable portions

75, 75R then slide along the longitudinal direction of the rail 73, the roller 77 that is in contact with the groove side surface 73B rotates and thereby reduces friction during sliding.

The groove-like portion 73E at the side of the rail 73 faces the wearer's thigh, and this groove-like portion 73E (groove-like portion facing the wearer's thigh) will be referred to as a thigh-side groove-like portion 73F (see fig. 26). In the example shown in fig. 28, on the inner wall surface of the slidable movement portion 75R facing the thigh-side groove-shaped portion 73F, two bearings 76 and two rollers 77 are provided along the longitudinal direction of the rail 73 (refer to fig. 26). In this case, as shown in fig. 28, the two bearings 76 and the two rollers 77 are accommodated in the groove-like portion 73E (in the thigh-side groove-like portion 73F) of the rail 73. When the thigh wearing portion 78R rotates about a point P1 on an imaginary straight line T1 connecting the centers of the two bearings 76, the two rollers 77 interfere with the groove side surfaces 73A, 73B, resulting in a relatively small allowable rotation angle θ Y1 of the thigh wearing portion 78R. In the example of fig. 28, two bearings 76 and two rollers 77 are provided along the longitudinal direction of the rail 73 between each of two groove-like portions 73E of the rail 73, one groove-like portion being located on the side facing the thigh and the other groove-like portion being located on the side opposite to the thigh, and each of the inner wall surfaces of the

slidable portions

75, 75R facing the corresponding groove-like portion 73E. However, two or more bearings 76 and two or more rollers 77 may be provided. This makes it possible to make the allowable rotation angle θ Y1 of the thigh wearing portion with respect to the rail smaller than in the case where one supporting roller is provided, so that the thigh wearing portion that can slide with respect to the rail can be held in a more stable posture.

In contrast, in the example shown in fig. 30, one bearing 76 and one roller 77 are provided on the inner wall surface of the slidable portion 75RZ that faces the thigh-side groove portion 73F (refer to fig. 26). In the example of fig. 30, one bearing 76 and one roller 77 are provided between each of two notched portions 73E of the rail 73, one on the side facing the thigh and the other on the side opposite the thigh, and each of the inner wall surfaces of the slidable portions 75, 75RZ facing the corresponding notched portion 73E. When the thigh wearing portion 78RZ rotates about the point P2 as the center of the one bearing 76, the one roller 77 does not interfere with the groove side surfaces 73A, 73B, and the thigh wearing portion 78RZ can rotate until the slidable portion 75RZ integral with the thigh wearing portion 78RZ interferes with the rail 73. Therefore, the allowable rotation angle θ Y2 shown in fig. 30 is larger than the allowable rotation angle θ Y1 in the case of fig. 28. In the case where it is preferable to have the thigh wearing portion rotated to a posture of a larger angle with respect to the rail according to various movements of the wearer's thighs, for example, in the state where the wearer is at various forward inclination angles, in the state where the left and right legs are in the front-rear direction, or in the state where the left and right legs are open, such a large allowable rotation angle allows the thigh wearing portion to be automatically rotated to appropriately follow the wearer's movements.

If the slidable portion 75R and the upper leg wearing portion 78R are not integrated but provided with a separate upper leg wearing portion 78RY and the separate upper leg wearing portion 78RY is coupled to the slidable portion 75R at one point, the allowable rotation angle of the upper leg wearing portion 78RY can be even larger.

In some cases, such as when the arm swings with the position of its swing axis (imaginary rotation axis 11J) and the position of the hip joint of the wearer not coinciding with each other, or when the wearer opens his or her leg sideways, the thigh-worn portion automatically slides to a suitable position, so that the assist torque can be transmitted efficiently, and a suitable wearing state can be maintained without causing the wearer to feel discomfort or pain. In addition, friction and noise generated during sliding of the thigh wearing portion can be reduced by the support rollers.

Next, the structure and the like of the thigh belt 80 will be described using fig. 31 and 32. As shown in fig. 31, the thigh strap 80 has a cover 81 and a strap 82.

As shown in fig. 32, the cover 81 is formed into a pocket portion 81A to accommodate the thigh worn portion 78R (or the thigh worn portion 78L), and the thigh worn portion 78R (or the thigh worn portion 78L) is inserted into the pocket portion 81A through a pocket insertion port 81G (see fig. 31). For example, a three-dimensional mesh layer having elasticity is provided on the surface of the cover 81 at the side close to the wearer's thighs, and two pieces of nylon cloth are laid on the three-dimensional mesh, and a portion between the two pieces of nylon cloth is formed as the pocket 81A.

A ring 81B (see fig. 32) is provided on the opposite side of the cover 81 from the band 82, and the band 82 wound around the wearer's thigh is inserted into the ring 81B. Holding

belts

81C, 81D for preventing the thigh wearing portion 78R (or the thigh wearing portion 78L) accommodated in the pocket portion 81A from slipping out of the pocket portion 81A are provided at a side of the cover 81 close to the belt 82. For example, the touch-close fastener 81E (hook side) is mounted on the holding strap 81C, and the touch-close fastener 81F (loop side) is mounted on the holding strap 81D. When the touch close fastener 81E (hook side) and the touch close fastener 81F (loop side) are superposed on each other, the thigh wearing portion 78R (or the thigh wearing portion 78L) accommodated in the pocket portion 81A is held so as not to slip out from the pocket portion 81A.

The portion of the tape 82 connected to the cover 81 is mounted on the cover 81 near the three-dimensional mesh between the three-dimensional mesh and the nylon cloth. For example, a nylon band 82A is provided on the surface of the band 82 on the side near the wearer's thighs, and touch-close fasteners 82B (loop side) or touch-close fasteners 82C (hook side) are laid on the nylon band 82A along the longitudinal direction of the band 82. A touch-close fastener 82C (hook side) is provided in a region of the belt 82 near an end portion (leading end portion) on the opposite side of the cover 81, and a touch-close fastener 82B (loop side) is provided on the remaining portion of the surface.

As shown in fig. 32, the wearer first inserts the thigh wearing portion 78R into the pocket portion 81A of the cover 81 of the thigh belt 80. Then, the wearer winds the belt 82 around his or her thigh and inserts the leading end portion of the belt 82 into the ring 81B and folds back the belt 82, and then places the touch-close fastener 82C (hook side) located at the leading end portion of the belt 82 on the touch-close fastener 82B (loop side) of the belt 82 to fix the belt 82. Then, the wearer winds the holding

bands

81C, 81D around the thigh wearing portion 78R inserted into the pocket portion 81A, and places the touch close fastener 81E (hook side) on the touch close fastener 81E (loop side) to fix the holding

bands

81C, 81D. Thus, the wearer can hold the thigh wearing portion 78R on his or her thigh by a very simple procedure. Since the thigh wearing portion 78R can slide along the longitudinal direction of the rail 73 together with the thigh belt 80, the thigh wearing portion 78R and the thigh belt 80 can be easily moved to appropriate positions in response to various motions of the wearer.

Various modifications, additions, and omissions may be made in the structure, configuration, form, appearance, operation, and the like of the power assist garment 1 of the present invention without departing from the gist of the present invention. Although an example using the coil spring 55 (see fig. 20) is described in the embodiment, a torsion bar or a torsion bar spring may be used instead of the coil spring.

The numerical values used in the description of the embodiments are merely examples, and the present invention is not limited to these numerical values. Symbols such as "or more than (≧)" or less than (≦) "," greater than (> "), and" less than (<) ", may or may not include an equal sign.

Claims

1. A power assist garment (1), characterized by comprising:

a belt (10, 20, 30, 80), the belt (10, 20, 30, 80) being worn at least around the hip of the wearer;

an auxiliary unit (60R, 60L), the auxiliary unit (60R, 60L) being worn on the belt (10, 20, 30, 80) and the wearer's thighs, the auxiliary unit (60R, 60L) being configured to assist a predetermined movement of at least the wearer's thighs relative to the hips or the hips of the wearer relative to the thighs;

a power unit (40), the power unit (40) being configured to generate an assist torque to be transmitted to the assist unit (60R, 60L); and

supporting rollers (76, 77), wherein,

the assist unit (60R, 60L) includes an arm portion (71L) configured to swing by the assist torque and a thigh-wearing portion (78R, 78L) worn on the thigh of the wearer,

the arm (71L) has an elongated shape extending from a side of the hip of the wearer along a side of the thigh of the wearer, and a rail (73) is provided at a part of the arm (71L) in a longitudinal direction,

the rail (73) has an H-shape in a cross section orthogonal to the longitudinal direction and includes a groove-shaped portion (73E) extending along the longitudinal direction,

the thigh wearing portion (78R, 78L) is connected to a slidable portion (75, 75R) or is integral with at least a part of the slidable portion (75, 75R), and the slidable portion (75, 75R) is configured to slide along a longitudinal direction of the rail (73), and

the supporting rollers (76, 77) are disposed between each of the groove-like portions (73E) in the rail (73) and each of inner wall surfaces of the slidable portions (75, 75R) facing the respective groove-like portions (73E), and are configured to reduce friction between the rail (73) and the slidable portions (75, 75R).

2. The power assist garment (1) according to claim 1, characterized in that two or more support rollers (76, 77) are provided along the longitudinal direction between each of the groove-like portions (73E) in the rail (73) and each of inner wall surfaces of the slidable portions (75, 75R) facing the respective groove-like portions (73E).

3. The power assist garment (1) according to claim 1, characterized in that one support roller (76, 77) is provided between each of the groove-like portions (73E) in the rail (73) and each of inner wall surfaces of the slidable portions (75, 75R) facing the respective groove-like portions (73E).

4. The power assist garment (1) according to claim 1, characterized in that:

the auxiliary unit (60R, 60L) comprises an idler (63R, 63L);

the power unit (40) comprises a drive pulley (51) and an actuator (57); and is

The assist torque generated by the actuator (57) is transmitted from the drive pulley (51) to the idler pulleys (63R, 63L) through a cable, and drive pulley shaft members (51A, 52A) that form a shaft of the drive pulley (51) are supported at both ends in a drive pulley rotation axis direction within the power unit, wherein the drive pulley rotation axis is a rotation axis of the drive pulley (51).

5. The power assist garment (1) according to claim 4, characterized in that the drive pulley (51) and the idler pulley (63R, 63L) are arranged such that the drive pulley axis of rotation and the idler pulley axis of rotation, which is the axis of rotation of the idler pulley (63R, 63L), are non-parallel to each other.

6. Power assist garment (1) according to claim 4 or 5, characterized in that:

the power unit (40) has a cable hole into which the cable drawn out from the drive pulley (51) is inserted; and is

A cable guide (45Y, 45Z) for guiding the cable led out from the drive pulley (51) to the cable hole in a straight line is provided in the power unit (40).